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ROS下Stage仿真器以及TF详解PPT(含例程代码)
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更新于2023-05-26
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国际优质教学资源:ROS下Stage仿真器以及TF详解PPT(含例程代码),通俗易懂。
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ROS
Stage and TF

Agenda
•
Stage:
•
Stage simulator
•
Reading laser sensor data
•
Writing a simple walker
•
TF:
•
ROS transformation system
•
Writing a tf broadcaster
•
Writing a tf listener
2

Run Stage with an existing world file
•
Stage is already installed with ROS Indigo
•
Stage ships with some example world files, including one that puts
an Erratic-like robot in a Willow Garage-like environment
•
To run it with an existing world file
•
Browsing the stage window should show up 2 little squares: a red
square which is a red box and a blue square which is the erratic
robot
4
!"#!$%&#'()*+!"#&#'()*!"#&,!"#-(./&01%2&#'()*+!"#,34"!5234155"46*!!('1.74"!52

Run Stage with an existing world file
•
Click on the stage window and press R to see the perspective view.
5
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